CN105437204A - Manipulator-loaded AGV trolley - Google Patents

Manipulator-loaded AGV trolley Download PDF

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Publication number
CN105437204A
CN105437204A CN201510956233.3A CN201510956233A CN105437204A CN 105437204 A CN105437204 A CN 105437204A CN 201510956233 A CN201510956233 A CN 201510956233A CN 105437204 A CN105437204 A CN 105437204A
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CN
China
Prior art keywords
manipulator
transfer station
agv dolly
line slideway
axis
Prior art date
Application number
CN201510956233.3A
Other languages
Chinese (zh)
Other versions
CN105437204B (en
Inventor
龚理
秦磊
禹鑫燚
Original Assignee
佛山市新鹏机器人技术有限公司
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Priority to CN201510956233.3A priority Critical patent/CN105437204B/en
Publication of CN105437204A publication Critical patent/CN105437204A/en
Application granted granted Critical
Publication of CN105437204B publication Critical patent/CN105437204B/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/007Manipulators mounted on wheels or on carriages mounted on wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members
    • B25J15/10Gripping heads and other end effectors having finger members with three or more finger members
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041Cylindrical coordinate type

Abstract

The invention discloses a manipulator-loaded AGV trolley. The manipulator-loaded AGV trolley comprises an AGV trolley, a right-angled coordinate type manipulator, a transfer table, a revolving mechanism, a driving device, an identity identifying instrument and a sensor device. The AGV trolley can clamp goods at different heights, is simple and convenient, realizes the combination of grabbing and transportation, and realizes multifunctional grabbing in all directions; through design of the transfer table, the goods can be conveyed to different floors through a conveying well to break through the barriers in traditional AGV trolley transportation; and meanwhile, the manipulator-loaded AGV trolley can intelligently carry through identity identification to replace manual carrying, so that the labor cost is reduced, and the efficiency is improved.

Description

A kind of AGV dolly loading manipulator

Technical field

The present invention relates to a kind of AGV dolly, particularly a kind of AGV dolly loading manipulator.

Background technology

Along with industrial automation, intelligentized requirement, all trades and professions, the particularly industry such as warehousing industry, transport service, realize goods and material handling and carrying full process automatization, reduce interdependency to manpower, improve the security in the course of work, and the expansion day by day of the demand such as cleaner production, AGV dolly the advantage of automatic tracking can be widely used in multiple field with its intellectuality.But in prior art, due to the otherness of industry-by-industry storage, a lot of AGV dolly all can not realize the demand of many floors, multi-faceted transport.Therefore, this is the problem needing to solve.

Summary of the invention

The object of the invention is to propose a kind of AGV dolly loading manipulator to realize the demand of many floors, multi-faceted transport and accurate gripping object.

For reaching this object, the present invention by the following technical solutions:

Load an AGV dolly for manipulator, comprise AGV dolly, cartesian co-ordinate type manipulator, transfer station, slew gear, drive unit, identification instrument and sensor device;

Described AGV dolly comprises car body and wheel; Described wheel is installed on the bottom of described car body; Described wheel comprises driving wheel;

Described cartesian co-ordinate type manipulator comprises line slideway described in X-axis line slideway, Y-axis, Z axis line slideway and manipulator; Described Z axis line slideway is vertically installed on the upper surface of described AGV dolly by described slew gear; Described Z axis line slideway there is the first slide block slided along described Z axis line slideway; Described Y-axis line slideway level is arranged on described first slide block, and moves in the Y-axis direction relative to the first slide block; Y-axis line slideway is provided with the second slide block towards one end of described transfer station, and described X-axis line slideway level is arranged on described second slide block, and moves in the X-axis direction relative to the second slide block; Described second slider surface is provided with rotating shaft to the one side of described transfer station, and the axis of described rotating shaft is parallel with described Y-axis line slideway; Described manipulator is arranged in described rotating shaft;

Described transfer station is arranged on the upper surface of described AGV dolly, arranges towards described cartesian co-ordinate type mechanical arm;

Described revolution framework is arranged between described AGV dolly and cartesian co-ordinate type manipulator, and described cartesian co-ordinate type manipulator rotates with the rotation of slew gear;

Described drive unit is arranged in described car body;

Described identification instrument is arranged at described X-axis line slideway near one end of described manipulator;

Described sensor device is installed on the bottom of described car body.

Preferably, described transfer station is transfer station one deck, transfer station two layers and transfer station three layers from top to bottom successively; The guide rail axially installed by Y-axis between described transfer station one deck and described transfer station two layers is connected; The guide rail axially installed by X-axis between described transfer station two layers and described transfer station three layers is connected; Described transfer station one deck is axially installed with along X-axis the cylinder being no less than 1.

Preferably, described identification instrument is one or more in two-dimensional bar code identifier, Quick Response Code identifier, RFID identifier.

Preferably, described manipulator comprises L-type part, two pawl fixture and Three-jaw fixtures; The middle part of described L-type part is connected with described rotating shaft one end towards described transfer station; Described two pawl fixtures and described Three-jaw fixture are installed on the two ends of L-type part, by the rotation of described L-type part, described two pawl fixtures and described Three-jaw fixture convertible just to the position of described transfer station.

Preferably, described sensor device comprises line walking sensor, alignment sensor, distance detecting sensor.

Preferably, described AGV dolly is using tape as motion guide rail.

Preferably, described driving wheel is two, and two described driving wheels connect two different drive motors respectively.

Preferably, described drive unit comprises driving power and drive motors, and the output of described drive motors is connected to described driving wheel, and controls the rotation of described driving wheel.

Preferably, described wheel also comprises the universal wheel being installed on described vehicle bottom.

Preferably, described universal wheel is no less than two groups.

Beneficial effect of the present invention is:

1, described AGV dolly can at differing heights gripping goods, and simple and convenient, it is two-in-one that realization captures transport, possesses multi-functional, multi-faceted crawl.

2, transfer station can convey goods to different floor by transmitting well, breaks through the obstacle of AGV dolly transport in the past.

3, intelligence carrying can be carried out by identification, replace a dead lift, reduce employment cost, raise the efficiency.

Accompanying drawing explanation

Fig. 1 is the structural representation of one of them embodiment of the present invention;

Fig. 2 is the structural representation of one of them embodiment of transfer station;

Fig. 3 is the structural representation of one of them embodiment of cartesian co-ordinate type manipulator.

Wherein: line slideway 22 described in AGV dolly 1, car body 11, wheel 12, driving wheel 121, universal wheel 122, cartesian co-ordinate type manipulator 2, X-axis line slideway 21, Y-axis, Z axis line slideway 23, manipulator 24, L-type part 241, two pawl fixture 242, Three-jaw fixture 243, first slide block 25, second slide block 26, transfer station 3, transfer station one deck 31, cylinder 311, transfer station two layer 32, transfer station three layer 33, slew gear 4.

Detailed description of the invention

Technical scheme of the present invention is further illustrated by detailed description of the invention below in conjunction with accompanying drawing.

As shown in Figure 1, a kind of AGV dolly loading manipulator, comprises AGV dolly 1, cartesian co-ordinate type manipulator 2, transfer station 3, slew gear 4, drive unit, identification instrument and sensor device;

Described AGV dolly 1 comprises car body 11 and wheel 12; Described wheel 12 is installed on the bottom of described car body 11; Described wheel 12 comprises driving wheel 121;

As shown in Figure 3, described cartesian co-ordinate type manipulator 2 comprises line slideway 22 described in X-axis line slideway 21, Y-axis, Z axis line slideway 23 and manipulator 24; Described Z axis line slideway 23 is vertically installed on the upper surface of described AGV dolly 1 by described slew gear 4; Described Z axis line slideway 23 there is the first slide block 25 slided along described Z axis line slideway 23; Described Y-axis line slideway 22 level is arranged on described first slide block 25, and moves in the Y-axis direction relative to the first slide block 25; Y-axis line slideway 22 is provided with the second slide block 26 towards one end of described transfer station 3, and described X-axis line slideway 21 level is arranged on described second slide block 26, and moves in the X-axis direction relative to the second slide block 26; Described second slide block 26 is provided with rotating shaft towards the one side of described transfer station 3, and the axis of described rotating shaft is parallel with described Y-axis line slideway 22; Described manipulator 24 is arranged in described rotating shaft;

As shown in Figure 2, described transfer station 3 is arranged on the upper surface of described AGV dolly 1, arranges towards described cartesian co-ordinate type mechanical arm 2;

Described revolution framework 4 is arranged between described AGV dolly 1 and cartesian co-ordinate type manipulator 2, and described cartesian co-ordinate type manipulator 2 rotates with the rotation of slew gear 4;

Described drive unit is arranged in described car body 11;

Described identification instrument is arranged at described X-axis line slideway 22 near one end of described manipulator;

Described sensor device is installed on the bottom of described car body 11.

Described Z axis line slideway 21 realizes described manipulator 25 rectilinear motion in the Z-axis direction by the first slide block 26; Described Y-axis line slideway 23 by screw rod transmission mode, realizes described manipulator 25 rectilinear motion in the Y-axis direction on the first slide block 26; Described X-axis line slideway 22 realizes described manipulator 25 rectilinear motion in the X-axis direction by screw rod transmission mode on the second slide block 27; Described slide block is by driven by servomotor.

Described slew gear 4 is made up of servomotor, decelerator and Timing Belt, realizes cartesian co-ordinate type manipulator 2 rotary motion in the Z-axis direction.

Described identification instrument reads the identity identification information of target object, avoids shifting wrong target object and affecting efficiency.

Preferably, described driving wheel 121 is symmetrical along moving of car direction is installed on described vehicle bottom, and described drive motors drives described driving wheel to carry out advancing, retreating and go to action respectively.

Preferably, described transfer station 3 is transfer station one deck 31, transfer station two layer 32 and transfer station three layer 33 from top to bottom successively; The guide rail axially installed by Y-axis between described transfer station one deck 31 and described transfer station two layer 32 is connected; The guide rail axially installed by X-axis between described transfer station two layer 32 and described transfer station three layer 33 is connected; Described transfer station one deck 31 is axially installed with the cylinder 311 being no less than 1 along X-axis.

Described transfer station 3 can realize target object short-range accurate location in X-axis and Y-axis, when target object successfully to capture and is placed in described transfer station 3 by described manipulator 24, cylinder will operate automatically in responding system instruction, and target object is successfully transported to correct place.Target object directly can be sent to destination by roller bearing or realize transmitting the function of well by transfer station one deck 31, transfer station two layer 32 and transfer station for three layer 33 by described transfer station 3, and indirect and multi-level carrying out transmits; Described transfer station and cartesian co-ordinate type manipulator 2 are fitted to each other, and realize locating transmission accurately.

Preferably, described identification instrument is one or more in two-dimensional bar code identifier, Quick Response Code identifier, RFID identifier.

Described identification instrument effectively identifies for the identity identification information of target gripping object, avoids shifting wrong object, increases work efficiency.

Preferably, described manipulator 24 comprises L-type part 241, two pawl fixture 242 and Three-jaw fixture 243; The middle part of described L-type part 241 is connected with described rotating shaft one end towards described transfer station 3; Described two pawl fixtures 242 and described Three-jaw fixture 243 are installed on the two ends of L-type part 241, by the rotation of described L-type part, described two pawl fixtures 242 and described Three-jaw fixture 243 convertible just to the position of described transfer station 3.

Manipulator 24 utilizes two pawl fixtures 242 and Three-jaw fixture 243 pairs of goods to carry out gripping transhipment, substantially increases operating efficiency, reduces the labour intensity of workman.And according to the size of goods and shape, described L-type part 241 rotates under the effect of motor with described rotating shaft, can switch at any time is two pawl fixtures 242 or Three-jaw fixture 243 just to described transfer station 3.

Preferably, described sensor device comprises line walking sensor, alignment sensor, distance detecting sensor.

The united application of described sensor device, for AGV dolly 1 accurately can be located, accurately be followed line and self-recision on magnetic stripe circuit, controllability is powerful, people or object is collided when avoiding AGV dolly 1 because breaking down in driving process, reduce and occur dangerous risk, improve the safety in utilization of AGV dolly 1.

Preferably, described AGV dolly 1 is using tape as motion guide rail.

The bottom of described AGV dolly 1 is provided with magnetic stripe, and the running orbit of AGV dolly 1 is provided with magnetic conductance rail, described magnetic stripe can attract each other with described magnetic conductance rail and coordinate, described AGV dolly is walked along described magnetic conductance rail, position navigation can be carried out by magnetic conductance rail, AGV dolly 1 is moved along the route of specifying.

Preferably, described driving wheel 121 is two, and two described driving wheels 121 connect two different drive motors respectively.

Preferably, described driving wheel is symmetrical along moving of car direction is installed on described vehicle bottom, and described drive motors drives described driving wheel to carry out advancing, retreating and go to action respectively.

Two driving wheels 121 are driven by different drive motors respectively, and when described AGV dolly 1 needs to turn, the driving wheel 121 of drive motors to turn direction side carries out deceleration and control, and makes driving wheel 121 previous row of opposite side, realizes turning to by differential.

Preferably, described drive unit comprises driving power and drive motors, and the output of described drive motors is connected to described driving wheel, and controls the rotation of described driving wheel.

Preferably, described wheel 12 also comprises the universal wheel 122 be installed on bottom described car body 11.

Relative to universal wheel 122, the diameter of described driving wheel 121 is comparatively large, and the driving wheel as AGV dolly 1 is installed on the bottom of described car body 11, universal wheel 122 is as driven pulley, make the traveling of AGV dolly 1 more steady, driving force can reduce, and bearing capacity improves greatly.

Further, described universal wheel 122 is no less than two groups.

Preferably, the front-end and back-end bottom car body 11 respectively install symmetrical a pair, and the corner namely bottom car body 11 respectively installs one, and AGV dolly 1 turns to the left-right rotation of universal wheel 122.Described universal wheel 122 is installed more, and turning to of AGV dolly 1 is more responsive.

Described AGV dolly 1 is for automatic charging function, and when at position of readiness, described AGV dolly waits for that job command exceedes certain hour or battery electric quantity detected lower than certain value time, described AGV dolly can charge to accumulator plant automatically, realizes automatic charging.

Above content is only preferred embodiment of the present invention, and for those of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, this description should not be construed as limitation of the present invention.

Claims (10)

1. load an AGV dolly for manipulator, it is characterized in that, comprise AGV dolly, cartesian co-ordinate type manipulator, transfer station, slew gear, drive unit, identification instrument and sensor device;
Described AGV dolly comprises car body and wheel; Described wheel is installed on the bottom of described car body; Described wheel comprises driving wheel;
Described cartesian co-ordinate type manipulator comprises line slideway described in X-axis line slideway, Y-axis, Z axis line slideway and manipulator; Described Z axis line slideway is vertically installed on the upper surface of described AGV dolly by described slew gear; Described Z axis line slideway there is the first slide block slided along described Z axis line slideway; Described Y-axis line slideway level is arranged on described first slide block, and moves in the Y-axis direction relative to the first slide block; Y-axis line slideway is provided with the second slide block towards one end of described transfer station, and described X-axis line slideway level is arranged on described second slide block, and moves in the X-axis direction relative to the second slide block; Described second slider surface is provided with rotating shaft to the one side of described transfer station, and the axis of described rotating shaft is parallel with described Y-axis line slideway; Described manipulator is arranged in described rotating shaft;
Described transfer station is arranged on the upper surface of described AGV dolly, arranges towards described cartesian co-ordinate type mechanical arm;
Described revolution framework is arranged between described AGV dolly and cartesian co-ordinate type manipulator, and described cartesian co-ordinate type manipulator rotates with the rotation of slew gear;
Described drive unit is arranged in described car body;
Described identification instrument is arranged at described X-axis line slideway near one end of described manipulator;
Described sensor device is installed on the bottom of described car body.
2. the AGV dolly loading manipulator as claimed in claim 1, it is characterized in that, described transfer station is transfer station one deck, transfer station two layers and transfer station three layers from top to bottom successively; The guide rail axially installed by Y-axis between described transfer station one deck and described transfer station two layers is connected; The guide rail axially installed by X-axis between described transfer station two layers and described transfer station three layers is connected; Described transfer station one deck is axially installed with along X-axis the cylinder being no less than 1.
3. the as claimed in claim 1 AGV dolly loading manipulator, is characterized in that, described identification instrument is one or more in two-dimensional bar code identifier, Quick Response Code identifier, RFID identifier.
4. the AGV dolly loading manipulator as claimed in claim 1, it is characterized in that, described manipulator comprises L-type part, two pawl fixture and Three-jaw fixtures; The middle part of described L-type part is connected with described rotating shaft one end towards described transfer station; Described two pawl fixtures and described Three-jaw fixture are installed on the two ends of L-type part, by the rotation of described L-type part, described two pawl fixtures and described Three-jaw fixture convertible just to the position of described transfer station.
5. the AGV dolly loading manipulator as claimed in claim 1, is characterized in that, described sensor device comprises line walking sensor, alignment sensor, distance detecting sensor.
6. the AGV dolly loading manipulator as claimed in claim 1, it is characterized in that, described AGV dolly is using tape as motion guide rail.
7. the as claimed in claim 1 AGV dolly loading manipulator, it is characterized in that, described driving wheel is two, and two described driving wheels connect two different drive motors respectively.
8. the AGV dolly carrying manipulator as claimed in claim 1, it is characterized in that, described drive unit comprises driving power and drive motors, and the output of described drive motors is connected to described driving wheel, and controls the rotation of described driving wheel.
9. the AGV dolly loading manipulator as claimed in claim 1, it is characterized in that, described wheel also comprises the universal wheel being installed on described vehicle bottom.
10. the AGV dolly loading manipulator as claimed in claim 9, it is characterized in that, described universal wheel is no less than two groups.
CN201510956233.3A 2015-12-17 2015-12-17 A kind of AGV dollies for loading manipulator CN105437204B (en)

Priority Applications (1)

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CN201510956233.3A CN105437204B (en) 2015-12-17 2015-12-17 A kind of AGV dollies for loading manipulator

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Application Number Priority Date Filing Date Title
CN201510956233.3A CN105437204B (en) 2015-12-17 2015-12-17 A kind of AGV dollies for loading manipulator

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CN105437204B CN105437204B (en) 2017-09-05

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Cited By (11)

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Publication number Priority date Publication date Assignee Title
CN105883424A (en) * 2016-05-03 2016-08-24 上海交通大学 AGV device capable of achieving automatic stacking
CN105964550A (en) * 2016-05-20 2016-09-28 天津工业大学 Full-automatic logistics robot
CN106393053A (en) * 2016-11-16 2017-02-15 福州大学 Carrying robot and carrying work method thereof
CN107538463A (en) * 2017-10-11 2018-01-05 深圳市普渡科技有限公司 A kind of robot that can independently pass in and out elevator
CN108145719A (en) * 2017-12-07 2018-06-12 浙江大学 A kind of mobile robot for assisting replacing inkle loom charging tray
CN108636811A (en) * 2018-04-25 2018-10-12 齐鲁师范学院 A kind of book vehicle convenient for book classification management
CN108657711A (en) * 2018-05-25 2018-10-16 深圳市泓腾生物科技有限公司 A kind of animal house IVC takes automatically/place system and method
CN109927010A (en) * 2019-03-20 2019-06-25 江西理工大学南昌校区 A kind of industrial robot based on AGV
WO2020078335A1 (en) * 2018-10-15 2020-04-23 上海交大智邦科技有限公司 Fixture automatic exchange apparatus which uses agv as carrying tool
WO2020103808A1 (en) * 2018-11-20 2020-05-28 上海交大智邦科技有限公司 Automatic tool exchanging device using agv as carrying device
CN111413922A (en) * 2020-03-24 2020-07-14 上海交大智邦科技有限公司 Intelligent platform shifting device using AGV as carrier

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105883424A (en) * 2016-05-03 2016-08-24 上海交通大学 AGV device capable of achieving automatic stacking
CN105883424B (en) * 2016-05-03 2018-08-17 上海交通大学 Can autonomous stacking AGV devices
CN105964550A (en) * 2016-05-20 2016-09-28 天津工业大学 Full-automatic logistics robot
CN106393053B (en) * 2016-11-16 2018-12-25 福州大学 A kind of transfer robot
CN106393053A (en) * 2016-11-16 2017-02-15 福州大学 Carrying robot and carrying work method thereof
CN107538463A (en) * 2017-10-11 2018-01-05 深圳市普渡科技有限公司 A kind of robot that can independently pass in and out elevator
CN108145719A (en) * 2017-12-07 2018-06-12 浙江大学 A kind of mobile robot for assisting replacing inkle loom charging tray
CN108636811A (en) * 2018-04-25 2018-10-12 齐鲁师范学院 A kind of book vehicle convenient for book classification management
CN108657711A (en) * 2018-05-25 2018-10-16 深圳市泓腾生物科技有限公司 A kind of animal house IVC takes automatically/place system and method
WO2020078335A1 (en) * 2018-10-15 2020-04-23 上海交大智邦科技有限公司 Fixture automatic exchange apparatus which uses agv as carrying tool
WO2020103808A1 (en) * 2018-11-20 2020-05-28 上海交大智邦科技有限公司 Automatic tool exchanging device using agv as carrying device
CN109927010A (en) * 2019-03-20 2019-06-25 江西理工大学南昌校区 A kind of industrial robot based on AGV
CN111413922A (en) * 2020-03-24 2020-07-14 上海交大智邦科技有限公司 Intelligent platform shifting device using AGV as carrier
CN111413922B (en) * 2020-03-24 2020-11-06 上海交大智邦科技有限公司 Intelligent platform shifting device using AGV as carrier

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